def make_pose_abs(parent: Pose, child: Pose) -> Pose:
"""
:param parent: e.g. scene object
:param child: e.g. action point
:return: absolute pose
"""
p = Pose()
p.position = child.position.rotated(parent.orientation)
p.position = make_position_abs(parent.position, p.position)
p.orientation = make_orientation_abs(parent.orientation, child.orientation)
return p
def make_pose_rel(parent: Pose, child: Pose) -> Pose:
"""
:param parent: e.g. scene object
:param child: e.g. action point
:return: relative pose
"""
p = Pose()
p.position = make_position_rel(parent.position, child.position).rotated(parent.orientation, True)
p.orientation = make_orientation_rel(parent.orientation, child.orientation)
return p
